KR100740768B1 - A guide method for guiding a device that is designed to insert elements into the ground in order to make a structure, and a device for inserting at least one element into the ground using such a guide method - Google Patents

Abstract

As a guide method for guiding a device 1 configured to insert a component 2 for manufacturing a structure into the ground,

Setting the topographical points 8 to determine the coordinates of these points 8 in the X, Y, Z frames of the reference,

Placing the measuring station 3 in a peripheral position of the structure and determining the X, Y, Z position of the measuring station 3 with respect to at least one topographical point 8,

Using the measuring station 3, determining the distance and angle between the insertion device 1 and the measuring station 3,

Calculating the position of the insertion device using the measured distance and the known position of the measuring station 3 and

Moving the position of the insertion device (1) such that the components (2) coincide with an insertion axis having a predetermined position into which the components are inserted into the ground.

Description

A guide method for guiding a device configured to insert a component for manufacturing a structure into the ground, and a device for inserting at least one component into the ground using the guide method. {A GUIDE METHOD FOR GUIDING A DEVICE THAT IS DESIGNED TO INSERT ELEMENTS INTO THE GROUND IN ORDER TO MAKE A STRUCTURE, AND A DEVICE FOR INSERTING AT LEAST ONE ELEMENT INTO THE GROUND USING SUCH A GUIDE METHOD}

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a schematic cross-sectional view of an inserting device for inserting a base plate supporting a railway rail using a prior art guide method.

Figure 2 is a perspective view of the insertion device for inserting the base plate using the guide method of a specific embodiment of the present invention.

3 is a schematic view from above of the base plate insertion device of FIG. 2 in a bend;

Figure 4 is a detailed view of the artificial arm of the base plate insertion apparatus of Figure 2;

5 is an illustration of a base plate that may be used to make a railroad track.

<Explanation of symbols for the main parts of the drawings>

1: base plate insertion vehicle

2: donation board

3: measuring station

5: arm                 

6: Actuator

7: reflector

8: survey point

9: transmitter

10: concrete slab

30: receiver

31: computer

The present invention relates to a guiding method for guiding a device configured to insert a component for manufacturing a structure into the ground, and specifically to EP 0 803 609 for inserting a base plate for making a railway track. A guide method for guiding a device of the type described, which enables the base plate to be inserted into the concrete with a precision within 1 mm at a given position. The invention also relates to an apparatus for inserting components into the ground using such a guide method.

A device for inserting a base plate into concrete, which makes it possible to make railway tracks quick and inexpensive, is known from EP 0 803 609. However, to be effective, such base plate inserting devices require that the inserting device itself is placed in the correct position to obtain the correct position for each base plate. These days, the insertion device is used with a site guide rail, provided as a reference for positioning the base plate insertion device, determined by the survey, and pre-installed along the path so as to be followed by the rail track with respect to a fixed reference part. do.

However, the conventional positioning of on-site guide rails along the path of the rail track has a long time-consuming drawback, thus significantly delaying the construction of the rail track. In addition, in order to obtain good precision in positioning the insertion device, the ground supporting the field guide rail is suitably stabilized to prevent the guide rail from moving under the pressure of the support point used by the insertion device to define its position. It is necessary to be. In addition, the work mainly performed in these places can change the position of the guide rail unintentionally.

It is therefore an object of the present invention to obviate the above drawbacks by providing an inexpensive guiding method with a simple mechanism which allows the insertion device for insertion of components into the ground precisely and quickly.

To this end, the present invention provides a guiding method for guiding a device configured to insert a component for manufacturing a structure into the ground, the method comprising the following steps.

Setting topographic points to determine the coordinates of these points within the X, Y, Z frames of the reference,

Placing the measuring station at a periphery of the structure and determining the X, Y, Z position of the measuring station with respect to one or more topographical points,

Using a measuring station to determine the distance and angle between the measuring station and the insertion device for inserting the components into the ground,

Calculating the position of the insertion device using the measured position, the measured angle and the known position of the measuring station; and

Moving the position of the insertion device such that the components coincide with an insertion axis having a predetermined position into which the components are inserted into the ground.

In specific embodiments, the guidance method of the present invention may include one or more of the following features obtained alone or in technically possible combinations.

The measuring station comprises an optical measuring method using a laser operating in conjunction with a reflector carried by an insertion device,

Irradiation is done at various reference points distributed along the structure, and as the insertion device advances, the measuring station is moved over the irradiation points to maximize the computational accuracy that can be obtained by it,

The distance between two consecutive irradiation points is in the range of 50 m to 100 m so as to have a precision within 1 mm in the positioning of the components inserted in the ground,

The movement of the insertion device is such that the coordinates of the distance and azimuth data communicated to the computer at every moment by the measuring station so that the coordinates substantially coincide components supported by the insertion device with the insertion axis having a predetermined position stored in the memory of the computer. As a function, controlled by a mount controller connected to a mounted computer,

The insertion device includes an arm for supporting the components, the arm being driven to translate and rotate along three axes perpendicular to each other, the movement of the arm being directed to the computer to precisely match the component to the insertion axis having a predetermined position; Controlled by

The structure is a rail track, and the components are base plates configured to support the rails, which are inserted into the concrete slab before the concrete slab is solidified.

The invention also provides an insertion device for inserting at least one component into the ground, the device being by means of the method described above, comprising at least one reflector configured to reflect radiation from the measuring station and reflector And the distance between the measuring station and the measuring station can be accurately determined.

In a specific embodiment, the insertion device of the present invention for inserting components into the ground may include one or more of the following features obtained alone or in technically possible combinations.

The device comprises an arm driven to translate and rotate along three axes perpendicular to each other, the arm supporting the component being inserted into the ground and the three-dimensional position of the arm and the component being inserted into the ground using a measuring station Includes a reflector that enables to be known,

The device comprises a caterpillar or drive and / or steering wheel which constitutes a vehicle which can move autonomously, the chassis of the vehicle itself is equipped with a reflector,

The vehicle comprises a computer which receives data from the measuring station and calculates the position of the vehicle and the arm, the computer sends a signal to the controller to control the movement of the vehicle and the arm such that the components are inserted into the ground at a preset position,

The components are base plates configured to support railway rails, which are inserted into the concrete slab before the concrete slab is solidified.

The objects, features and advantages of the present invention may be better understood, with reference to the accompanying drawings, by the following description of one embodiment of the present invention, given as non-limiting embodiments.

In order to make the drawing easier to understand, only the components necessary for understanding the present invention are shown.

1 shows a vehicle 11 for transporting a base plate inserting device guided into position, according to the prior art, which is above the track slab 10 before concrete is installed. In FIG. 1, a vehicle 11 for inserting a base plate along a path of a rail track is disposed on one side of a concrete slab 10 and provided with two site guides provided as a reference for positioning the vehicle 11. Guided by rail 12. The base plate insertion vehicle 11 is a single support for fixing the vehicle 11 to a rail 12 which is supported against an upper surface of one of the guide rails 12 and serves as a reference along the insertion axis Z. Wheel 13 and two stationary wheels laterally supported relative to both sides of the second guide rail 12 which allow the vehicle 11 to be related in the X, Y plane perpendicular to the insertion axis Z. (13) is provided.

This guiding method has the drawback that the field guide rails need to be put in place in advance, for a long time and for correct operation, and the speed of building the railway track is significantly slowed down.

2 and 3 show the insertion device 1 for inserting the base plate 2, the device being guided along the path of the railway track by the specific means of the guidance method of the present invention.

In Fig. 2, the insertion device for inserting the base plate 2 is mounted on four wheels, two of which are steering wheels and two of which are driving wheels, which enable the vehicle to move autonomously along a predetermined direction. It is constructed by a vehicle. The vehicle comprises a rear with an arm 5 which is translated and rotated on three vertical axes X, Y and Z, which provides a mechanism that allows very precise movement.

The arm 5 itself shown in FIG. 4 is generally H-shaped and has two actuators (at its bottom with respective base plates 2 for insertion into newly cast concrete slabs fixed at their ends). 6), and the two base plates 2 are fixed apart from each other by the arms 5 at a distance corresponding to the specification of the installed track. The arm 5 has two angle indicators (not shown) which permanently measure the orientation of the arm 5 with respect to the axes X and Y.

The base plate 2, one of which is shown by itself in FIG. 5, is of a traditional type, and the plate 21 is made of a rigid material such as cast iron, and the rail is fixed on the base plate 2 with a nut. It comprises two fastening means 22 each comprising a threaded rod which makes it possible. The base plate 2 also includes two foundation bolts 23 which are generally cylindrical, making it possible for the base plate to be fixed in the concrete slab 10 when the concrete is installed.

In FIG. 4, the arm 5 comprises three reflectors 7 configured to cooperate with a measuring station 3 installed next to a railway track to be installed. In addition, one reflector 7 is mounted on the roof of the vehicle.

The measuring station 3, arranged next to the path of the railway track, is installed on a trivet perpendicular to the irradiation point 8. The measuring station 3 comprises a length measuring laser device with a light emitter and a light receiver which makes it possible to know the distance and angle between the measuring station and the set of reflectors 7 moved by the arm 5 and the vehicle very accurately. Include. For example, the measuring laser device used is a device sold under the model number TC / TCA 2003 by Leica.

The measuring station 3 also comprises a radio transmitter 9 which sends the measuring results obtained at every moment by the measuring laser device to the receiver 30 carried by the vehicle. The receiver 30 of the vehicle is connected to a computer 31 mounted in the vehicle, which computer 31 arms in three dimensions (3D) from the information sent by the measuring station 3 and the known position of the irradiation point 8. Calculate the exact position of (5). The computer 31 is connected to a controller (not shown) that controls the movement of the arm 5 and the actuator 6, and also controls the motor so that the vehicle can be steered and moved.

The guiding method for guiding the base plate insertion apparatus is described below.

In Fig. 3, prior to the step of inserting the base plate 2, a plurality of irradiation points are continuously determined along the path of the railroad track at intervals of about 50 m to 100 m, which points are determined by the identification table (8). Is displayed.

On the day when the base plate 2 is inserted, the insertion vehicle is moved over a portion of the track where the concrete slab 10 is newly sprayed but not yet solidified. From this starting position of the vehicle, the measuring station 3 is advantageously arranged on the rear side of the vehicle, in particular on the nearest irradiation point 8 with a direct field of view of the arm 5 and the reflector 7 of the vehicle. The measuring station 3 is placed on the point 8 in a very precise manner by placing it vertically above the point 8 and the X, Y and Z coordinates of the measuring station 3 are loaded using the measuring station 3. And by measuring the distance between the point 8. In another embodiment of the method of the invention, the measuring station 3 is optionally arranged at a point near the railway track and has a direct field of view of the reflector 7, whereby the X, Y, Z coordinates of the measuring station 3 are It is determined by determining the exact position of the measuring station 3 from the measured angle and distance using a measuring station overlooking several known irradiation points 8.

Once the position of the measuring station 3 is known, the ranging laser device is arranged at the rear of the vehicle, in particular on the roof of the vehicle, so that the distance and angle between itself and each reflector 7 can be measured. The reflector 7 is aimed at.

The measurement results are immediately sent by radio from the transmitter 9 to the computer 31 mounted on the vehicle, and the computer is then sent from the known position of the measurement station 3 and the data transmitted by the measurement station 3 to the exact 3 of the vehicle. Calculate the dimension position.

Since the exact coordinates of the point at which the base plate 2 is inserted are already stored in the memory of the computer 31, the computer 31 is then moved from the position of the vehicle measured by the point and the station to the next base plate 2. The distance between this position and the arm 5 is inserted, and the arm is then in a stationary position where it can move over several centimeters (cm) and has six degrees of freedom. From this distance, the computer 31 is driven so that the vehicle moves along the axis of the track until the artificial arm 5 which remains stationary at its stop position has actually been transported to the point where the base plate 2 is theoretically inserted. And sends a signal to a controller that controls the steering wheel. Of course, considering the slack present in the transmission of the vehicle, the positioning of the vehicle relative to the track is not very precise. That is, the precision is within about 1 cm.

Once the vehicle has stopped in this position, the computer 31 is provided with a measuring station 3 in order to match the ideal insertion point for the base plate 2 with the base plate 2 carried by the arm 5 with very good precision. The three-dimensional position of the arm 5 is identified from the data transmitted by &lt; RTI ID = 0.0 &gt; The actuator 6 is then operated to insert the base plate 2 into the unconsolidated concrete 10 according to the method described in European patent application EP 0 803 609.

Once the two base plates 2 are inserted, the arm 5 returns to its rest position and the computer 31 retrieves the coordinates of the next point at which the new base plate 2 is to be inserted. The guidance method for matching the new point with the vehicle is similar to that described above.

The measuring station 3 is closest to the vehicle and has a direct field of view of the reflector 7 so as to maintain sufficient precision to guide the base plate inserting vehicle so that a precision of less than 1 mm can be obtained in positioning of the base plate. It changes regularly to the irradiation point 8.

This guiding method has the advantage of having very fast operating and low cost means, which only requires setting up the irradiation point every 50 m to 100 m and installing the measuring station on the day when the base plate is inserted. This guiding method also has the advantage of not using direct contact between the base plate inserting device and the reference frame used, thus eliminating the physical stresses that may be generated by the base plate inserting device on the reference frame.

Of course, the invention is not limited to the above-described and illustrated embodiments, which are given by way of example only.

The above example therefore describes an insertion device for inserting a base plate into a concrete slab, but the guidance method of the present invention can equally well be used to guide an insertion device for inserting any component necessary to make a structure.

In various embodiments, not shown, the insertion device can be applied to the caterpillar or any other means that allows the insertion device to be moved instead of the wheel.

According to the present invention, an insertion apparatus for inserting components for manufacturing a structure into the ground can be precisely and quickly positioned, and there is provided a low cost guide method and a component insertion apparatus through the simple mechanism.

Claims (11)

A guide method for guiding a device (1) configured to insert a component (2) for manufacturing a structure into the ground, Setting topographic points 8 to determine the coordinates of these points 8 within the X, Y, Z frames of the reference; Placing the measuring station 3 in place at the peripheral position of the structure and determining the X, Y, Z position of the measuring station 3 with respect to one or more topographical points 8; Using the measuring station 3 to determine the distance and angle between the insertion device 1 and the measuring station 3, Calculating the position of the device 1 using the measured distance and the known position of the measuring station 3, Guiding the position of the insertion device (1) so as to coincide with the insertion axis having a predetermined position into which the component (2) is inserted into the ground. The method according to claim 1, characterized in that the measuring station (3) comprises an optical measuring method using a laser which works in conjunction with the reflector (7) carried by the insertion device (1) of the component (2). How to guide. The method according to claim 1 or 2, wherein the irradiation is carried out at several reference points 8 distributed along the structure, and as the insertion device 1 is advanced, the measuring station 3 can be obtained thereby. Guide method, characterized in that it is moved over the irradiation point (8) to maximize the calculation precision. 4. The distance between the two consecutive irradiation points 8 is in the range of 50 meters (m) to 100 m so as to obtain a precision within 1 mm in measuring the position of the component (2). Guide method, characterized in that. 3. The movement of the inserting device according to claim 1, wherein the movement of the inserting device moves the component 2 supported by the inserting device 1 to an insertion axis whose coordinates have a predetermined position stored in a memory of the computer 31. Characterized in that it is controlled by a mounting controller connected to the mounted computer 31 as a function of the distance and azimuth data communicated by the measuring station 3 to the computer 31 at every moment to substantially match. Guide way. 2. The insertion device (1) according to claim 1, wherein the insertion device (1) comprises an arm (5) supporting the component (2), the arm (5) being translated and rotationally driven along three axes perpendicular to each other, The movement of the arm (5) is characterized in that it is controlled by the computer (31) to exactly match the component (2) to the insertion axis having a predetermined position. The concrete slab according to claim 1 or 2, wherein the structure is a railroad track, the component (2) is a base plate configured to support a rail, and the base plate (2) is a concrete slab before the concrete slab 10 is solidified. Guide method, characterized in that inserted into (10). In the insertion device (1) for inserting into the ground at least one component (2) performing the guiding method according to claim 1 or 2, the device drives translation and rotation on three axes perpendicular to each other. An arm 5 which supports the component 2 which is inserted into the ground and the three-dimensional positions of the arm 5 and the component 2 in the measuring station 3. Insertion apparatus characterized in that it comprises a reflector (7) which makes it visible by means of. 9. The device according to claim 8, comprising a drive and / or steering wheel or caterpillar to constitute an autonomous movable insertion device (1), wherein the chassis of the insertion device (1) itself is provided with a reflector (7). Insertion apparatus characterized in that. 9. A computer as claimed in claim 8, comprising a computer (31) for receiving data from the measuring station (3) and calculating the position of the insertion device (1) and the arm (5). Insertion device (1), characterized in that the component (2) is inserted into the ground at a preset position by sending a signal to the controller to control the movement of the arm (5). 9. Insert according to claim 8, characterized in that the component (2) is a base plate designed to support a rail and the base plate (2) is inserted into the concrete slab (10) before the concrete slab (10) is hardened. Device.

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